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Wifi not auto-connecting

Hello,
I have currently setup wicd with my wireless network and set it to automatically connect. However, this does not happen. Is there a way to setup wireless networking via some config files to auto-connect so that wicd can be bypassed altogether? I've edited /etc/network/interfaces and added the appropriate statements, but all this does is set the ip address and other information for the interface, despite having my SSID and hex key in the interfaces file, and does not bring up the connection. Is there a way around wicd or is there something else I need to do to get this working? This is on 5R2.